CN108161986A - Control the device and method of robots arm - Google Patents

Abstract

A kind of device and method for controlling robots arm are provided.The equipment for controlling robots arm includes：Robots arm；Calibration plate, display are used for the calibration mark of self diagnosis；Range sensor is installed on the robotic arm and is configured as measurement distance；Imaging sensor is installed on the robotic arm and is configured as obtaining image；Processor is configured as：Robots arm is moved to the position for self diagnosis, it is measured by using range sensor from the predetermined portions of robots arm to the distance of calibration plate, the image of calibration plate is obtained by using imaging sensor, in response to measurement distance except range error range and obtain image image measurement except image error range, output instruction robots arm failure signal.

Description

Device and method for controlling a robotic arm

This application claims priority to Korean Patent Application No. 10-2016-0166211 filed on December 7, 2016 in the Korean Intellectual Property Office, the disclosure of which is hereby incorporated by reference in its entirety.

technical field

Apparatuses and methods consistent with exemplary embodiments of the present inventive concepts relate to controlling a robot arm.

Background technique

Robots can perform pick and place functions by controlling the motion of a robotic arm.

However, when the motion of the robot cannot be precisely controlled or the robot arm is misaligned when the pick and place function is performed repeatedly, the working accuracy is reduced, resulting in uneconomical performance.

Therefore, there is a need for self-diagnostics for determining if the robot arm is misaligned.

Contents of the invention

One or more exemplary embodiments are based on techniques for precisely controlling robotic arms.

Aspects of the inventive concept will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented exemplary embodiments.

According to one or more exemplary embodiments, there is provided an apparatus for controlling a robot arm, comprising: a robot arm; a calibration plate displaying calibration marks for self-diagnosis; a distance sensor mounted on the robot arm and configured to measuring a distance; an image sensor mounted on a robot arm and configured to obtain an image; a processor configured to: move the robot arm to a position for self-diagnosis by using the distance sensor to measure from a predetermined portion of the robot arm to a calibration A distance of the board by obtaining an image of the calibration board using an image sensor, and outputting a signal indicative of a failure of the robot arm in response to the measured distance being outside the range of distance error and the image measurement of the obtained image being outside the range of image error.

The processor may be further configured to output a fault of the distance sensor in response to the measured distance being outside the distance error range and the obtained image measurement of the image being within the image error range.

The processor may also be configured to correct a failure of the distance sensor.

The processor may be further configured to output a signal indicative of an error of the image sensor in response to the measured distance being within the distance error range and the obtained image measurement of the image being outside the image error range.

The processor may also be configured to set at least one of a reference distance and a reference image measurement, wherein the distance error range is an error range of the reference distance and the image error range is an error range of the reference image measurement.

The image measurements may include at least one of resolution, sharpness, and center position of the obtained image, wherein the processor is further configured to measure: Values substantially different, a vertical fault of the robotic arm is output, and in response to the center position of the obtained image being substantially different from the reference image measurement, a horizontal fault of the robotic arm is output.

The processor may be further configured to output a fault of the distance sensor in response to a distance from the predetermined portion of the robot arm to the calibration plate being unable to be measured using the distance sensor.

According to one or more exemplary embodiments, there is provided an apparatus for controlling a robotic arm, comprising: a communication interface configured to communicate with a distance sensor and an image sensor mounted on the robotic arm; a processor configured to: moving the robot arm to a position for self-diagnosis, and in response to a plurality of images obtained by the image sensor in which the distance from a part of the robot arm to a predetermined position around the robot arm measured by the distance sensor is outside the distance error range At least one of the image measurements is outside at least one of the plurality of image error ranges, respectively, outputting a failure of the robot arm.

The processor may be further configured to: output a signal indicative of a failure of the distance sensor in response to the measured distance being outside a distance error range and all image measurements of the acquired image being respectively within said plurality of image error ranges, And in response to the measured distance being within a distance error range and at least one of the plurality of image measurements of the obtained image being respectively outside at least one of the plurality of image error ranges, a failure of the image sensor is output.

The processor may be further configured to set an initial distance measured by the distance sensor at the position for self-diagnosis as a reference distance, wherein the distance error range is an error range of the reference distance.

The processor may also be configured to set at least one of optimal resolution and optimal sharpness of an image obtained by the image sensor at a position for self-diagnosis as a reference image measurement value, wherein the image error range is a reference The margin of error for image measurements.

According to one or more exemplary embodiments, there is provided a method of controlling a robot arm, the method may include: moving the robot arm to a position for self-diagnosis by using a processor; a distance sensor for measuring a distance from a predetermined portion of the robot arm to the calibration plate; by using the processor, determining whether the measured distance is outside the distance error range; in response to the measured distance being outside the distance error range, by using the an image sensor on the arm, obtaining an image of the calibration plate; by using the processor, determining whether the image measurement of the obtained image is outside the image error range; in response to the image measurement of the obtained image being outside the image error range, by Using the processor, a signal is output indicative of a failure of the robotic arm.

The method may further include, by using the processor, outputting a failure of the distance sensor in response to an image measurement value of the obtained image being within an error range of the image.

The method may further include obtaining, by using the image sensor, an image of the calibration plate in response to the measured distance being within the distance error range; and determining, by using the processor, whether an image measurement of the obtained image is outside the image error range ; outputting, by use of the processor, a failure of the image sensor in response to an image measurement value of the acquired image being outside of an image error range.

The method further includes setting at least one of a reference distance and a reference image measurement prior to moving the robotic arm, using the processor, wherein the distance error bound is an error bound for the reference distance and the image error bound is the reference image measurement margin of error.

Image measurements may include resolution, sharpness, and center position of the acquired image, and reference image measurements may include reference resolution, reference sharpness, and reference center location, wherein the step of outputting the failure of the robotic arm includes: processing by using in response to the resolution of the obtained image being substantially different from the reference resolution or the resolution of the obtained image being substantially different from the reference resolution, by use of the processor, outputting the robot vertical failure of the arm; in response to the center position of the obtained image being different from the reference center position, by using the processor, outputting a horizontal failure of the robot arm; in response to the resolution, sharpness and center position of the obtained image being different from the reference resolution respectively , the reference sharpness and the reference center position are basically the same, by using the processor, outputting the fault of the distance sensor.

When the distance cannot be measured by the distance sensor, the method may further include outputting a signal indicating a failure of the distance sensor by using the processor.

According to an exemplary embodiment, user convenience may be provided by distinguishably notifying a user through self-diagnosis of whether the robot arm itself has a malfunction or whether a sensor mounted on the robot arm has a malfunction.

According to an exemplary embodiment, by automatically correcting a malfunction of a sensor mounted on a robot arm through self-diagnosis, a technique for efficiently and economically controlling a robot arm may be provided.

Description of drawings

These and/or other aspects will become apparent and more readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which:

1A and 1B are diagrams for explaining an apparatus for controlling a robot arm, according to an exemplary embodiment;

2 is a block diagram illustrating a configuration of an apparatus for controlling a robot arm according to an exemplary embodiment;

3 is a flowchart of a method of controlling a robotic arm according to an exemplary embodiment;

4 is a flowchart of a method of outputting a failure of a distance sensor according to an exemplary embodiment;

5 is a flowchart of a method of correcting a malfunction of a distance sensor according to an exemplary embodiment;

6 is a flowchart of a method of outputting a failure of a robot arm according to an exemplary embodiment;

FIG. 7 is a flowchart of a method of optimizing an image sensor mounted on a robot arm, according to an exemplary embodiment.

Detailed ways

Since the inventive concept allows various changes and many embodiments, exemplary embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the inventive concept to a specific mode of practice, and it will be understood that all changes, equivalents and substitutions that do not depart from the spirit and technical scope of the inventive concept are included in the inventive concept. In the description of the exemplary embodiments, certain detailed explanations of the related art may be omitted when it is considered that they may unnecessarily obscure the essence of the inventive concept.

Although terms such as 'first', 'second', etc. may be used to describe various components, the components are not necessarily limited by the above terms. The above terms are only used to distinguish one component from another.

The terms used in this specification are for describing exemplary embodiments only, and are not intended to limit the present inventive concept. An expression used in the singular includes a plural expression unless it has a clearly different meaning in the context.

In this specification, it will be understood that terms such as "comprising", "having" and "comprising" etc. are intended to indicate the presence of features, quantities, steps, actions, components, parts or combinations thereof disclosed in the specification, while It is not intended to exclude the possibility that one or more other features, quantities, steps, actions, components, parts or combinations thereof may exist or may be added.

Exemplary embodiments may be described in terms of functional block components and various processing steps. Such functional blocks may be realized by any number of hardware and/or software components configured to perform the specified functions. For example, the exemplary embodiments may employ various integrated circuit (IC) components (e.g., memory elements, processing elements, logic elements, lookup elements, table, etc.). Similarly, where software programming or software elements are used to implement elements of the exemplary embodiments, any programming or programming of various algorithms implemented using any combination of data structures, objects, processes, routines, or other programming elements may be used. A scripting language (such as C, C++, Java, assembly language, etc.) is used to implement the present disclosure. Aspects of functionality may be implemented as algorithms executing on one or more processors. Furthermore, the present disclosure may employ any number of conventional techniques for electronics configuration, signal processing and/or data processing, and the like. The words "mechanism", "element", "means" and "configuration" may be used broadly and are not limited to mechanical or physical embodiments, but may include software routines in combination with processors and the like.

As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. Expressions such as "at least one of," when preceding a list of elements, modify the entire list of elements and do not modify the individual elements of the list.

The inventive concept will now be described more fully with reference to the accompanying drawings in which exemplary embodiments are shown.

1A and 1B are views for explaining an apparatus for controlling a robot arm 12 according to an exemplary embodiment.

Referring to FIGS. 1A and 1B , an apparatus according to an exemplary embodiment may include a robot 10, wherein the robot 10 includes a base 11, a robot arm 12, an image sensor 13, a distance sensor 14, a calibration board (calibration board) 15, and a processor 130. (See Figure 2).

The base 11 supports the load of the robot arm 12 and maintains the stability of the robot 10 when the robot arm 12 moves.

The robotic arm 12 performs pick-and-place functions by making linear and rotational movements. Robotic arm 12 may include multiple joints. Each joint may include an actuator.

The image sensor 13 obtains an image. Examples of the image sensor 13 may include a Charge Coupled Device (CCD) and a Complementary Metal Oxide Semiconductor (CMOS).

An image sensor 13 may be mounted on the robot arm 12 . For example, an image sensor 13 may be mounted on one end of the robot arm 12 together with a pick and place module.

A distance sensor 14 may be mounted on the robot arm 12 . For example, a distance sensor 14 may be mounted on said one end of the robot arm 12 . In this case, the distance sensor 14 may be mounted on the one end of the robot arm 12 together with the image sensor 13 .

A distance sensor 14 may be provided in the image sensor 13 .

The distance sensor 14 measures the distance. The distance sensor 14 may measure a distance from the one end of the robot arm 12 to a predetermined position around the robot arm 12 , where the predetermined position is a calibration point of a support provided on the robot arm 12 . For example, distance sensor 14 may measure the distance to calibration plate 15 . Calibration marks for self-diagnosis may be shown on the top surface of the calibration plate 15 facing the image sensor 13 and the distance sensor 14 . The center position of the calibration plate 15 may be displayed differently from the other positions. The peripheral position of the calibration plate 15 may be shown differently than the other positions.

A calibration plate 15 may be mounted on the base 11 . For example, a calibration plate 15 may be installed on a side surface of the base 11 .

The calibration plate 15 may be installed on a surface parallel to the top surface of the base 11 . For example, the calibration board 15 may be installed on the top surface of a table on which the robot 10 is installed.

The processor 130 included in the robot 10 moves the robot arm 12 to a position for self-diagnosis, measures the distance from the calibration plate 15 by using the distance sensor 14, obtains an image of the calibration plate 15 by using the image sensor 13, and when the measured When the distance is outside the distance error range and at least one image measurement of the acquired image is outside the image error range, a signal indicative of a malfunction of the robotic arm 12 is output. Here, the distance measured by the distance sensor 14 may be the shortest distance from a predetermined portion of the robot arm 12 (eg, the shortest distance from one end of the robot arm 12 to the top surface of the calibration plate 15 ).

The apparatus according to the present exemplary embodiment can provide user convenience and reduce related costs by notifying the user of failure of the robot arm 12 itself different from failure of the distance sensor 14 or failure of the image sensor 13 .

When the distance measured by the distance sensor 14 is outside the distance error range, the processor 130 may obtain an image of the calibration board 15 by using the image sensor 13 .

When the robot 10 is initially driven, the processor 130 may move the robot arm 12 to a position for self-diagnosis. The processor 130 may move the robot arm 12 to a position for self-diagnosis at a predetermined time according to user input. The processor 130 may move the robot arm 12 to a position for self-diagnosis at predetermined time intervals. When the robot 10 is activated, driven, or initialized, the processor 130 may move the robot arm 12 to a position for self-diagnosis.

The location for self-diagnosis can be preset. For example, the position for self-diagnosis may be a position where the entire top surface of the calibration plate 15 mounted on the side surface of the base 11 of the robot arm 12 is imaged by the image sensor 13 mounted on one end of the robot arm 12 . Alternatively, the position for self-diagnosis may be that the distance of the robot arm 12 from the top surface of the calibration plate 15 installed on the side surface of the base 11 can be measured by a distance sensor 14 installed on one end of the robot arm 12 s position.

The processor 130 may set at least one of a reference distance and a reference image measurement value. The distance error range may be an error range of a reference distance, and the image error range may be an error range of a measured value of a reference image.

The reference distance, the error range of the reference distance, the reference image measurement value, and the error range of the reference image measurement value may be preset according to user input.

The processor 130 may preset an initial distance (ie, a distance measured for the first time) measured by the distance sensor 14 at a position for self-diagnosis as a reference distance. The initial distance measured by the distance sensor 14 may be the initial distance from the calibration plate 15 . Here, the initial distance may be the shortest distance measured for the first time from the distance sensor 14 to the calibration plate 15 .

The error range of the reference distance may vary according to the specifications of the distance sensor 14 .

Reference image measurements may include reference resolution, reference sharpness, and reference center position.

The processor 130 may set an initial resolution or an optimal resolution of an image obtained by the image sensor 13 at a position for self-diagnosis as a reference resolution. The initial resolution may be a resolution first obtained by the image sensor 13 .

The error range of the reference resolution may vary according to the specifications of the image sensor 13 . For example, the error range of the reference resolution may vary according to lens specifications of the image sensor 13 such as lens magnification or lens depth of focus. The error range of the reference resolution may be determined based on experimental values of the image sensor 13 having predetermined specifications.

The processor 130 may set an initial sharpness or an optimal sharpness of an image obtained by the image sensor 13 at a position for self-diagnosis as a reference sharpness. The initial resolution may be the resolution obtained by the image sensor 13 for the first time.

The error range of the reference sharpness may vary according to the specifications of the image sensor 13 . For example, the error range of the reference sharpness may vary according to lens specifications such as lens magnification or lens depth of focus. The error range of the reference sharpness may be determined based on experimental values of the image sensor 13 having predetermined specifications.

The processor 130 may set an initial center position or an optimal center position of an image obtained by the image sensor 13 at a position for self-diagnosis as a reference center position. The initial center position may be the center position first obtained by the image sensor 13 .

The processor 130 may set the center position of the calibration plate 15 as a reference center position.

The error range of the reference center position may vary according to the specifications of the image sensor 13 . For example, the error range of the reference center position may vary according to lens specifications of the image sensor 13 such as lens magnification or lens depth of focus. The error range of the reference center position may be determined based on experimental values of the image sensor 13 having predetermined specifications. The error range of the reference center position may vary according to the spacing between the calibration marks displayed on the calibration plate 15 .

The image measurement values may include at least one of resolution, sharpness, and center position of the image obtained by the image sensor 13 . The processor 130 may output a signal indicative of a vertical failure of the robotic arm 12 when at least one of resolution and sharpness of the obtained image is substantially different from the reference image measurement. When the center position of the obtained image is substantially different from the reference image measurement, the processor 130 may output a signal indicating a horizontal failure of the robot arm 12 .

For example, when the resolution of the obtained image is substantially different from the predetermined initial resolution or optimal resolution, or when the resolution of the obtained image is substantially different from the predetermined initial resolution or optimal resolution, the processing The controller 130 may output a signal indicative of a vertical failure of the robotic arm 12. When the center position of the obtained image is substantially different from the initial center position or the optimum center position of the calibration plate 15 , the processor 130 may output a signal indicating a horizontal failure of the robot arm 12 . Here, throughout the present disclosure, the expressions "substantially different" and "substantially the same" may mean "outside the corresponding error range" and "within the corresponding error range", respectively.

When the distance measured by the distance sensor 14 is outside the distance error range and the image measurement value of the image obtained by the image sensor 13 is within the image error range, the processor 130 may output a signal indicating a failure of the distance sensor 14 .

The apparatus according to the present exemplary embodiment can provide user convenience and reduce related costs by notifying the user of failure of the distance sensor 14 different from failure of the robot arm 12 itself.

When the distance measured by the distance sensor 14 is within the distance error range and the image measurement value of the image obtained by the image sensor 13 is outside the image error range, the processor 130 may output a signal indicating failure of the image sensor 13 . Specifically, when the distance measured by the distance sensor 14 is within the distance error range and the image measurement values (ie, resolution, sharpness, and center position) of the image obtained by the image sensor 13 are respectively within the image error range (ie, When the error range of the reference resolution, the error range of the reference sharpness, and the error range of the reference center position), the processor 130 may output a signal indicating a failure of the image sensor 13 .

When the distance measured by the distance sensor 14 is within a distance error range, the processor 130 may obtain an image of the calibration board 15 by using the image sensor 13 .

The apparatus according to the present exemplary embodiment can provide user convenience and reduce related costs by notifying the user of failure of the image sensor 13 different from failure of the robot arm 12 itself.

When the distance from the calibration plate 15 cannot be measured by using the distance sensor 14 at a preset position of the robot arm 12 for self-diagnosis, the processor 130 may output a signal indicating a failure of the distance sensor 14 .

The processor 130 may correct the failure of the distance sensor 14 .

In detail, when the failure of the distance sensor 14 can be corrected, the processor 130 can correct the failure of the distance sensor 14, and when the failure of the distance sensor 14 cannot be corrected, the processor 130 can output a signal indicating the failure of the distance sensor 14. Signal.

For example, a case where a malfunction of the distance sensor 14 can be corrected is a case where the distance from the calibration plate 15 can be measured by using the distance sensor 14 at a pre-set position for self-diagnosis of the robot arm 12 . Therefore, when the distance from the calibration board 15 can be measured by using the distance sensor 14 , the processor 130 can correct the malfunction of the distance sensor 14 .

For example, a case where a malfunction of the distance sensor 14 can be corrected is a case where the distance measured by the distance sensor 14 is outside the distance error range. Accordingly, the processor 130 may correct a malfunction of the distance sensor 14 when the distance measured by the distance sensor 14 is outside the distance error range.

For example, a case where a malfunction of the distance sensor 14 cannot be corrected is a case where the distance from the calibration plate 15 cannot be measured by using the distance sensor 14 . Accordingly, when the distance from the calibration plate 15 cannot be measured by using the distance sensor 14 , the processor 130 may output a signal indicating a failure of the distance sensor 14 .

The apparatus according to the present exemplary embodiment may provide a technique for efficiently and economically controlling the robot arm 12 by automatically correcting a malfunction of a sensor mounted on the robot arm 12 through self-diagnosis.

The processor 130 may optimize the function of the image sensor 13 when the distance measured by the distance sensor 14 is within the distance error range and all image measurements of the image obtained by the image sensor 13 are respectively within all image error ranges, And the robotic arm 12 can be moved from a position for self-diagnostics to a position for performing pick and place functions. Optimization of the function of the image sensor 13 will be explained below with reference to FIG. 7 .

Here, the respective signals indicating failures of the robot arm 12, the image sensor 13, and the distance sensor 14 may be expressed in different forms to be distinguished from each other. These signals may be one of, but not limited to, visual signals, audio signals, tactile signals, etc., or may be a combination of these signals.

The same description as that made above will be briefly given or omitted.

FIG. 2 is a block diagram illustrating a configuration of an apparatus 100 for controlling a robot arm 12 according to an exemplary embodiment.

Referring to FIG. 2 , the device 100 according to the exemplary embodiment includes a communication interface 110 , a memory 120 and a processor 130 .

The device 100 is separable from the robot 10 (see FIG. 1A ) and can communicate with the robot 10 . The apparatus 100 may perform a control operation related to a process of outputting a failure of at least one of the robot arm 12 (see FIG. 1A ), the image sensor 13 (see FIG. 1A ), and the distance sensor 14 (see FIG. 1A ). The device 100 may perform a control operation related to a process of correcting at least one of the image sensor 13 and the distance sensor 14 .

The communication interface 110 communicates with the distance sensor 14 and the image sensor 13 mounted on the robot arm 12 .

Communication interface 110 may receive distance data from distance sensor 14 .

The communication interface 110 may receive image data from the image sensor 13 .

Communication interface 110 may receive user input. User input may include the time from when the robotic arm 12 was moved to a position for self-diagnosis, a reference distance, a margin of error for the reference distance, reference image measurements (i.e., reference resolution, reference sharpness, and reference center position), and reference image At least one related input within the error range of the measured value.

The memory 120 may store information received through the communication interface 110 and information generated through the processor 130 .

The memory 120 may store distance data received from the distance sensor 14, image data received from the image sensor 13, and user input.

The memory 120 can store the position of the robot arm 12 for self-diagnosis, the time when the robot arm 12 moves to the position for self-diagnosis, the specification of the image sensor 13, the specification of the distance sensor 14, a reference distance, an error range of the reference distance, Reference image measurements, error margins for reference image measurements, measured distances, and image measurements.

When the distance measured by the distance sensor 14 at the position for self-diagnosis is outside the distance error range and at least one of the image measurement values of the image obtained by the image sensor 13 is outside at least one of the image error ranges, respectively, The processor 130 moves the robot arm 12 to a position for self-diagnosis, and outputs a signal indicating a failure of the robot arm 12 .

When the distance measured by the distance sensor 14 is outside the range of distance error and all the image measurements of the image obtained by the image sensor 13 are respectively within all the image error range, the processor 130 may output an indication of the failure of the distance sensor 14 signal, and when the distance measured by the distance sensor 14 is within the distance error range and at least one of the image measurement values of the image obtained by the image sensor 13 is respectively outside at least one of the image error ranges, the processor 130 A signal indicating failure of the image sensor 13 may be output.

The processor 130 may set an initial distance measured by the distance sensor 14 at a position for self-diagnosis as a reference distance, and the distance error range may be an error range of the reference distance.

The processor 130 may set at least one of optimal resolution and optimal sharpness of an image obtained by the image sensor 13 at a position for self-diagnosis as a reference image measurement value, and the image error range may be the reference image measurement value The margin of error for the value.

FIG. 3 is a flowchart of a method of controlling the robot arm 12 according to an exemplary embodiment.

Referring to FIG. 3 , in operation S100 , the processor 130 moves the robot arm 12 to a position for self-diagnosis.

Before operation S100, the processor 130 may set at least one of a reference distance and a reference image measurement value. The distance error range may be an error range of a reference distance, and the image error range may be an error range of a measured value of a reference image.

Next, in operation S110 , the distance from the calibration plate 15 is measured by the distance sensor 14 installed on the robot arm 12 .

In operation S120, the processor 130 determines whether the measured distance is outside a distance error range.

When it is determined in operation S120 that the measured distance is within the distance error range, the method proceeds to operation S130. In operation S130 , an image of the calibration plate 15 is obtained through the image sensor 13 installed on the robot arm 12 .

Next, in operation S140, it is determined whether the image measurement value of the obtained image is outside the image error range.

When it is determined in operation S140 that the image measurement value of the obtained image is within the error range of the image, the processor 130 may optimize the function of the image sensor 13 and move the robot arm 12 from the position for self-diagnosis to the position for performing pick-up. and where to put the function.

When it is determined in operation S140 that the image measurement value of the obtained image is outside the image error range, the method proceeds to operation S150. In operation S150 , the processor 130 outputs a signal indicating a failure of the image sensor 13 .

Therefore, since a failure of the image sensor 13 different from a failure of the robot arm 12 itself can be notified to the user who manages the failure of the image sensor 13, user convenience can be provided. Furthermore, user convenience can be improved because unnecessary notification to the user who manages the failure of the robot arm 12 itself can be avoided. As a result, the cost for operating the apparatus according to the present exemplary embodiment can be reduced.

When it is determined in operation S120 that the measured distance is outside the distance error range, the method proceeds to operation S160. In operation S160 , an image of the calibration plate 15 is obtained through the image sensor 13 .

Next, the processor 130 determines whether the image measurement value of the obtained image is outside the image error range in operation S170.

When it is determined in operation S170 that the image measurement value of the obtained image is within the image error range, the method proceeds to operation S180. The processor 130 outputs a signal indicating a malfunction of the distance sensor 14 in operation S180.

Therefore, since a failure of the distance sensor 14 different from a failure of the robot arm 12 itself can be notified to the user who manages the failure of the distance sensor 14, user convenience can be provided. Furthermore, user convenience can be improved because unnecessary notification to the user who manages the failure of the robot arm 12 itself can be avoided. As a result, the cost for operating the apparatus according to the present exemplary embodiment can be reduced.

When it is determined in operation S170 that the image measurement value of the obtained image is outside the image error range, the method proceeds to operation S190. In operation S190 , the processor 130 outputs a signal indicating a failure of the robot arm 12 .

Therefore, since a failure of the robot arm 12 different from a failure of a sensor for self-diagnosis can be notified to a user who manages the failure of the robot arm 12, user convenience can be provided. In addition, user convenience can be improved because unnecessary notification of a user managing a failure of a sensor can be avoided. As a result, the cost for operating the apparatus according to the present exemplary embodiment can be reduced.

Here, the image measurement value may indicate at least one of resolution, sharpness, and center position of an image obtained by the image sensor 13 .

FIG. 4 is a flowchart of a method of outputting a failure of the distance sensor 14 according to an exemplary embodiment.

Referring to FIG. 4, when it is determined in operation S111 that the distance from the calibration plate 15 cannot be measured by the distance sensor 14, the method proceeds to operation S113. The processor 130 outputs a failure of the distance sensor 14 in operation S113.

FIG. 5 is a flowchart of a method of correcting a malfunction of the distance sensor 14 according to an exemplary embodiment.

Operation S171 and operation S173 of FIG. 5 may be performed before operation S180 of FIG. 3 .

Operation S180 of FIG. 5 corresponds to operation S180 of FIG. 3 .

Referring to FIG. 5, in operation S171, when a malfunction of the distance sensor 14 is detected, the processor 130 determines whether the malfunction of the distance sensor 14 can be corrected.

When it is determined in operation S171 that the malfunction of the distance sensor 14 can be corrected, the method proceeds to operation S173. The processor 130 corrects the malfunction of the distance sensor 14 in operation S173. For example, a situation in which a malfunction of the distance sensor 14 can be corrected is a situation in which the distance from the calibration plate 15 can be measured by the distance sensor 14 .

When it is determined in operation S171 that the malfunction of the distance sensor 14 cannot be corrected, the method proceeds to S180. The processor 130 outputs a signal indicating a malfunction of the distance sensor 14 in operation S180. For example, a case where a malfunction of the distance sensor 14 cannot be corrected is a case where the distance from the calibration plate 15 cannot be measured by the distance sensor 14 .

As such, since a malfunction of the distance sensor 14 mounted on the robot arm 12 can be automatically corrected by performing self-diagnosis, a technique for controlling the robot arm 12 more efficiently and economically can be provided.

FIG. 6 is a flowchart of a method of outputting a failure of the robot arm 12 according to an exemplary embodiment.

Operation S175 and operation S177 of FIG. 6 are included in operation S170 of FIG. 3 .

Operation S180 of FIG. 6 corresponds to operation S180 of FIG. 3 .

Operation S195 and operation S197 of FIG. 6 are included in operation S190 of FIG. 3 .

Referring to FIG. 6, image measurement values may include resolution, sharpness, and center position of an obtained image. Reference image measurements may include reference resolution, reference sharpness, and reference center position.

In operation S175, the processor 130 determines whether the resolution and the definition of the obtained image are substantially the same as the reference resolution and the reference definition, respectively.

When it is determined in operation S175 that the resolution of the obtained image is substantially different from the reference resolution, or the definition of the obtained image is substantially different from the reference resolution, the method proceeds to operation S195. In operation S195 , the processor 130 outputs a vertical failure of the robot arm 12 .

When it is determined in operation S175 that the resolution and definition of the obtained image are substantially the same as the reference resolution and reference definition, respectively, the method proceeds to operation S177. In operation S177, the processor 130 determines whether the center position of the obtained image is substantially the same as the reference center position. Although not shown in FIG. 6, even when the resolution of the obtained image is substantially different from the reference resolution, or the resolution of the obtained image is substantially different from the reference resolution, the processor 130 can determine that the obtained image Whether the center position of is basically the same as the reference center position.

When it is determined in operation S177 that the center position of the obtained image is substantially different from the reference center position, the method proceeds to operation S197. In operation S197, the processor 130 outputs a level fault of the robot arm 12.

When it is determined in operation S177 that the center position of the obtained image is substantially the same as the reference center position, the method proceeds to operation S180. The processor 130 outputs a failure of the distance sensor 14 in operation S180.

FIG. 7 is a flowchart of a method of optimizing the image sensor 13 mounted on the robot arm 12 according to an exemplary embodiment.

Referring to FIG. 7 , after operation S140 of FIG. 3 , when the image measurement value of the obtained image is within an image error range, the processor 130 may optimize the function of the image sensor 13 .

In operation S200 , the processor 130 changes a lens focal length of the image sensor 13 .

To perform operation S200, when the sharpness of the image obtained through the image sensor 13 is substantially different from the reference sharpness, the processor 130 may change the focal length of the lens of the image sensor 13 based on the reference sharpness. When the lens of the image sensor 13 is a motorized lens, the processor 130 can automatically change the focal length of the lens of the image sensor 13 . When the lens of the image sensor 13 is a manual lens, the processor 130 may output a signal notifying that the focal length of the lens of the image sensor 13 is changed.

When it is determined that the sharpness of the image obtained by the image sensor 13 is substantially the same as the reference sharpness, or the lens focal length of the image sensor 13 is changed based on the reference sharpness, the method proceeds to operation S210. In operation S210, the processor 130 corrects lens distortion.

The processor 130 may correct lens distortion by using specific parameters of the lens of the image sensor 13 such as an internal matrix and a distortion vector.

Next, the processor 130 determines the resolution of the image sensor 13 in operation S220.

For example, the image sensor 13 may measure the resolution of the image sensor 13 by using the cross of the calibration plate 15 included in the image obtained by the image sensor 13 .

Next, the processor 130 corrects brightness of the image sensor 13 in operation S230.

For example, the processor 130 can correct the brightness of the image sensor 13 by adjusting the exposure time or gain of the image sensor 13 .

When optimization of the function of the image sensor 13 is complete, the processor 130 may move the robotic arm 12 from a position for self-diagnosis to a position for performing pick and place functions.

As such, since the image sensor 13 is corrected by using the calibration plate 15, a technique for more efficiently and economically controlling the robot arm 12 may be provided.

It should be understood that the exemplary embodiments described therein should be considered in a descriptive sense only and not for purposes of limitation. Descriptions of features or aspects within each embodiment should typically be considered as available for other similar features or aspects in other embodiments.

Although one or more exemplary embodiments have been described with reference to the accompanying drawings, those of ordinary skill in the art will understand that other embodiments may be implemented in the exemplary embodiments without departing from the spirit and scope of the inventive concept as defined in the claims. Various changes in form and details have been made in the examples.

Claims (20)

1. a kind of equipment for controlling robots arm, the equipment includes：

Robots arm；

Calibration plate, display are used for the calibration mark of self diagnosis；

Range sensor is installed on the robotic arm and is configured as measurement distance；

Imaging sensor is installed on the robotic arm and is configured as obtaining image；

Processor is configured as：Robots arm is moved to the position for self diagnosis, by using range sensor measure from The predetermined portions of robots arm obtain the image of calibration plate by using imaging sensor, in response to surveying to the distance of calibration plate The distance of amount is except range error range and the image measurement of the image of acquisition is except image error range, and output refers to Show the signal of the failure of robots arm.

2. equipment as described in claim 1, wherein, processor is additionally configured to：In response to measurement distance in range error Except range and the image measurement of the image of acquisition is within the scope of image error, the failure of output instruction range sensor Signal.

3. equipment as claimed in claim 2, wherein, processor is additionally configured to correct the failure of range sensor.

4. equipment as described in claim 1, wherein, processor is additionally configured to：In response to measurement distance in range error Within the scope of and obtain image image measurement except image error range, output instruction imaging sensor failure Signal.

5. equipment as described in claim 1, wherein, processor is additionally configured to setting reference distance and reference picture measured value At least one of,

Wherein, range error range includes the error range of reference distance, and image error range includes reference picture measured value Error range.

6. equipment as claimed in claim 5, wherein, image measurement include the resolution ratio of the image obtained, clarity and in At least one of heart position,

Wherein, processor is additionally configured to：At least one of resolution ratio and clarity in response to the image of acquisition and reference Image measurement is substantially different, the signal of the vertical failure of output instruction robots arm, and in response in the image of acquisition Heart position and reference picture measured value are substantially different, the signal of the horizontal failure of output instruction robots arm.

7. equipment as claimed in claim 5, wherein, image measurement include the resolution ratio of the image obtained, clarity and in At least one of heart position, reference picture measured value are included with reference to resolution ratio, with reference in clarity and reference center position It is at least one,

Wherein, processor is additionally configured to：At least one of resolution ratio and clarity in response to the image of acquisition exist respectively Except at least one of error range with reference to resolution ratio and the error range with reference to clarity, output instruction robots arm Vertical failure signal, and in response to acquisition image center except the error range of reference center position, The signal of the horizontal failure of output instruction robots arm.

8. equipment as described in claim 1, wherein, processor is additionally configured to：In response to the predetermined portions from robots arm Distance to calibration plate cannot be measured by using range sensor, the signal of the failure of output instruction range sensor.

9. a kind of equipment for controlling robots arm, the equipment includes：

Communication interface is configured as communicating with installing range sensor on the robotic arm and imaging sensor；

Processor is configured as：Robots arm is moved to the position for self diagnosis, and in response to being surveyed by range sensor The distance in the precalculated position around the part to robots arm from robots arm of amount except range error range and passes through At least one of multiple images measured value of image that imaging sensor obtains respectively in multiple images error range extremely Except one few, the signal of the failure of output instruction robots arm.

10. equipment as claimed in claim 9, wherein, the part of robots arm is robots arm for picking up and put One end of object is put, the precalculated position is provided in the calibration point of the support element of robots arm.

11. equipment as claimed in claim 9, wherein, image measurement includes resolution ratio, clarity and the centre bit of image It puts, image error range includes the error range with reference to resolution ratio, the error range with reference to clarity and reference center position Error range.

12. equipment as claimed in claim 9, wherein, processor is additionally configured to：In response to measurement distance in range error Except range and all image measurements of image for obtaining are respectively within described multiple images error range, and output refers to Show the signal of the failure of range sensor, and in response to measurement distance within the scope of range error and the image that obtains At least one of described multiple images measured value respectively except at least one of described multiple images error range, it is defeated It has the signal for the failure for indicating imaging sensor.

13. equipment as claimed in claim 9, wherein, processor is additionally configured to：It will pass through at the position for self diagnosis The initial distance that range sensor measures is set as reference distance,

Wherein, range error range is the error range of reference distance.

14. equipment as claimed in claim 9, wherein, processor is additionally configured to：It will pass through at the position for self diagnosis At least one of optimum resolution and best sharpness of the image that imaging sensor obtains are set as reference picture measured value,

Wherein, image error range is the error range of reference picture measured value.

15. a kind of method for controlling robots arm, the method includes：

By using processor, robots arm is moved to the position for self diagnosis；

By using installation range sensor on the robotic arm, measure from the predetermined portions of robots arm to calibration plate away from From；

By using processor, whether the distance for determining to measure is except range error range；

In response to measurement distance except range error range, by using installation imaging sensor on the robotic arm, Obtain the image of calibration plate；

By using processor, determine the image measurement of the image obtained whether except image error range；

In response to acquisition image image measurement except image error range, by using processor, export instruction machine The signal of the failure of device robot arm.

16. method as claimed in claim 15, further includes：In response to acquisition image image measurement in image error model Within enclosing, by using processor, the signal of the failure of output instruction range sensor.

17. method as claimed in claim 15, further includes：

In response to measurement distance within the scope of range error, by using imaging sensor, obtain the image of calibration plate；

By using processor, determine the image measurement of the image obtained whether except image error range；

In response to acquisition image image measurement except image error range, by using processor, output instruction figure As the signal of the failure of sensor.

18. method as claimed in claim 15, wherein, the method further includes：Before mobile robot arm, by using Processor sets at least one of reference distance and reference picture measured value, wherein, range error range is reference distance Error range, image error range are the error ranges of reference picture measured value.

19. method as claimed in claim 18, wherein, image measurement include the resolution ratio of the image obtained, clarity and Center,

Wherein, reference picture measured value is included with reference to resolution ratio, with reference to clarity and reference center position,

Wherein, the step of signal of the failure of output instruction robots arm includes：

By using processor, determine whether image measurement is essentially identical with reference picture measured value；

In response to the resolution ratio of the image of acquisition and the clarity with reference to the image that resolution ratio is substantially different or obtains and reference Clarity is substantially different, by using processor, the signal of the vertical failure of output instruction robots arm；

It is different from reference center position in response to the center of the image of acquisition, by using processor, output instruction machine The signal of the horizontal failure of robot arm；

In response to the image of acquisition resolution ratio, clarity and center respectively with reference to resolution ratio, with reference to clarity and ginseng It is essentially identical to examine center, by using processor, the signal of the failure of output instruction range sensor.

20. method as claimed in claim 15, wherein, the method further includes：It cannot pass through distance in response to the distance Sensor is measured, by using processor, the signal of the failure of output instruction range sensor.